RoMoCo: Robotic Motion Control Toolbox for Reduced-Order Model-Based Locomotion on Bipedal and Humanoid Robots

By leveraging reduced-order models for platform-agnostic gait generation, RoMoCo enables flexible controller design across diverse robots. We demonstrate its versatility and performance through extensive simulations on the Cassie, Unitree H1, and G1 robots, and validate its real-world efficacy with hardware experiments on the Cassie and G1 humanoids.